{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 130,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "import pandas as pd\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import time\n",
    "from PIL import Image\n",
    "from PIL import ImageDraw\n",
    "plt.style.use({'figure.figsize':(5, 5)})"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 131,
   "metadata": {},
   "outputs": [],
   "source": [
    "Velocity_tripod=0.289*40\n",
    "Up_D=np.array([-40,-20,0,20,40])\n",
    "Left_D=np.array([-60,-80,-100,-120])\n",
    "Right_D=np.array([60,80,100,120])\n",
    "Robot_radium=40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 132,
   "metadata": {},
   "outputs": [],
   "source": [
    "Q_table1_state=np.array(['L0R0U0','L0R0U1','L0R0U2','L0R0U3',\n",
    "                'L0R1U0','L0R1U1','L0R1U2','L0R1U3',\n",
    "                'L0R2U0','L0R2U1','L0R2U2','L0R2U3',\n",
    "                'L0R3U0','L0R3U1','L0R3U2','L0R3U3',\n",
    "                'L1R0U0','L1R0U1','L1R0U2','L1R0U3',\n",
    "                'L1R1U0','L1R1U1','L1R1U2','L1R1U3',\n",
    "                'L1R2U0','L1R2U1','L1R2U2','L1R2U3',\n",
    "                'L1R3U0','L1R3U1','L1R3U2','L1R3U3',\n",
    "                'L2R0U0','L2R0U1','L2R0U2','L2R0U3',\n",
    "                'L2R1U0','L2R1U1','L2R1U2','L2R1U3',\n",
    "                'L2R2U0','L2R2U1','L2R2U2','L2R2U3',\n",
    "                'L2R3U0','L2R3U1','L2R3U2','L2R3U3',\n",
    "                'L3R0U0','L3R0U1','L3R0U2','L3R0U3',\n",
    "                'L3R1U0','L3R1U1','L3R1U2','L3R1U3',\n",
    "                'L3R2U0','L3R2U1','L3R2U2','L3R2U3',\n",
    "                'L3R3U0','L3R3U1','L3R3U2','L3R3U3'])\n",
    "Q_table2_state=np.array(['L60D0/30','L180D0/30','L250D0/30','L300D0/30',\n",
    "                'L60D30/60','L180D30/60','L250D30/60','L300D30/60',\n",
    "                 'L60D60/90','L180D60/90','L250D60/90','L300D60/90',\n",
    "                'L60D90/120','L180D90/120','L250D90/120','L300D90/120',\n",
    "                'L60D120/150','L180D120/150','L250D120/150','L300D120/150',\n",
    "                'L60D150/180','L180D150/180','L250D150/180','L300D150/180',\n",
    "                'L60D180/210','L180D180/210','L250D180/210','L300D180/210',\n",
    "                'L60D210/240','L180D210/240','L250D210/240','L300D210/240',\n",
    "                'L60D240/270','L180D240/270','L250D240/270','L300D240/270',\n",
    "                'L60D270/300','L180D270/300','L250D270/300','L300D270/300',\n",
    "                'L60D300/330','L180D300/330','L250D300/330','L300D300/330',\n",
    "                 'L60D330/360','L180D330/360','L250D330/360','L300D330/360'])\n",
    "Q_table1_action=np.array(['Up','Left_45D','Right_45D'])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 133,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[-24.62277603  17.06473579  16.55107006  17.0196781 ]\n",
      " [ 19.05728693  17.63935626  17.00640946  17.1668592 ]\n",
      " [ 19.66578675  17.54354477  14.73099071  14.86500902]\n",
      " [ 19.91171264 -15.50714525  17.70065142  17.92763426]\n",
      " [-85.86446013  17.04326148  16.95608749  17.28361326]\n",
      " [ 18.41481904  17.97435491  17.52976874  18.18513114]\n",
      " [ 19.63650141  18.57422041  17.25156554  17.86311027]\n",
      " [ 19.91715517  18.91568998  18.03467623  18.4483734 ]\n",
      " [ 14.80059619  17.51862888  17.01658842  18.49721911]\n",
      " [ 19.37708817  18.49523286  17.59429091  18.69833424]]\n",
      "****************\n",
      "[[ 285.13710986  250.13541598  216.81415767]\n",
      " [  -5.           -5.21129576   -6.93722021]\n",
      " [ -10.          -10.11279885  -12.07253466]\n",
      " [ -15.          -15.57454709  -16.13086534]\n",
      " [ 260.44855442  283.77723211  208.19530717]\n",
      " [  -6.           -5.           -7.87605593]\n",
      " [ -11.          -10.          -13.72519212]\n",
      " [ -16.          -15.          -19.17560281]\n",
      " [ 212.7447237   247.32687124  176.98650425]\n",
      " [  -7.28902254   -5.70589039  -10.6674693 ]]\n"
     ]
    }
   ],
   "source": [
    "Q_Table1_avoid=np.loadtxt(r\"E:\\Graduate\\python\\Q_Table_notgait_finish\\Q_Table1_notgait\\Q_Table1_notgait_1.txt\")\n",
    "Q_Table2_arrive=np.loadtxt(r\"E:\\Graduate\\python\\Q_Table_notgait_finish\\Q_Table2_notgait\\Q_Table2_notgait_1.txt\")\n",
    "print(Q_Table1_avoid[:10])\n",
    "print(\"****************\")\n",
    "print(Q_Table2_arrive[:10])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 134,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Draw_map1(Destination_x,Destination_y):\n",
    "    im=Image.new('RGB',size=(2000,2000),color=(0,0,0))\n",
    "    draw=ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255)) \n",
    "    draw.rectangle((1500,1000,1650,1150),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((400,700,550,850),(0,0,0), (0,0,0)) \n",
    "    draw.rectangle((200,300,350,450),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((1500,500,1550,650),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((1200,1400,1350,1550),(0,0,0), (0,0,0)) \n",
    "    draw.rectangle((700,1200,850,1350),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((300,1600,450,1750),(0,0,0), (0,0,0)) \n",
    "    draw.rectangle((100,1100,250,1250),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1100,250,1250,400),(0,0,0),(0,0,0)) \n",
    "    draw.polygon((900, 1070,1120, 1000,1150, 1100, 1100,1090,1050, 1200),(0,0,0),(0,0,0))\n",
    "    draw.pieslice((750, 1700, 900, 1850), 0,180,(0,0,0),(0,0,0))\n",
    "    draw.ellipse((900,550,1050,700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((650,100,750,200),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((1700,130,1800,230),(0,0,0),(0,0,0))\n",
    "#     draw.polygon((150, 180, 200, 180, 250, 120, 230, 90, 130, 100),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Destination_x-20,Destination_y-20,Destination_x+20,Destination_y+20),(218,112,214),(218,112,214))\n",
    "    return im\n",
    "# im=Draw_map1()\n",
    "# plt.imshow(im)\n",
    "# plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 135,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Draw_map2(Destination_x,Destination_y):\n",
    "    im=Image.new('RGB',size=(2000,2000),color=(0,0,0))\n",
    "    draw=ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255)) \n",
    "    draw.rectangle((1000,300,1100,1700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Destination_x-20,Destination_y-20,Destination_x+20,Destination_y+20),(218,112,214),(218,112,214))\n",
    "    return im\n",
    "#im=Draw_map2(1750,250)\n",
    "#plt.imshow(im)\n",
    "#plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 136,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Set_destination(x,y):\n",
    "    return x,y\n",
    "\n",
    "def Start_point(x,y,angle):\n",
    "    return x,y,angle"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 137,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Scan_1(Current_x,Current_y,Angle,im):\n",
    "    Distance_level=0\n",
    "    Obstacle_distance=Robot_radium\n",
    "    Obstacle_distance_x=Current_x+Obstacle_distance*np.cos(Angle/180*np.pi)\n",
    "    Obstacle_distance_y=Current_y+Obstacle_distance*np.sin(Angle/180*np.pi)\n",
    "    while(im.getpixel((Obstacle_distance_x,Obstacle_distance_y))!=(0,0,0) and Obstacle_distance<250):#getpixiel obtains the degree of Gray Scale\n",
    "        Obstacle_distance+=5  #Search interval, can be changed\n",
    "        Obstacle_distance_x=Current_x+Obstacle_distance*np.cos(Angle/180*np.pi)\n",
    "        Obstacle_distance_y=Current_y+Obstacle_distance*np.sin(Angle/180*np.pi)\n",
    "    test_value=np.random.random()*12\n",
    "    if 0<=Obstacle_distance<test_value+90:\n",
    "        Distance_level=0 #Nearear\n",
    "    elif test_value+90<=Obstacle_distance<170:\n",
    "        Distance_level=1 #Near\n",
    "    elif 170<=Obstacle_distance<250:\n",
    "        Distance_level=2 #Medium\n",
    "    else:\n",
    "        Distance_level=3 #Far\n",
    "    return Distance_level,Obstacle_distance\n",
    "def Direction_min_level_1(Degree,Current_x,Current_y,Current_angle,im):\n",
    "    Level=[]\n",
    "    Distance=[]\n",
    "    Degree=Degree+Current_angle\n",
    "    for i in Degree:\n",
    "        Level.append((Scan_1(Current_x,Current_y,i,im))[0])\n",
    "        Distance.append((Scan_1(Current_x,Current_y,i,im))[1])\n",
    "    return min(Level),min(Distance)\n",
    "def Output_state_index_1(Left_min_level,Right_min_level,Up_min_level):\n",
    "    LRU=[]\n",
    "    LRU.append(Left_min_level)\n",
    "    LRU.append(Right_min_level)\n",
    "    LRU.append(Up_min_level)\n",
    "    return LRU[0]*16+LRU[1]*4+LRU[2]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 138,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Robot_destination_2(Destination_x,Destination_y,Current_x,Current_y,Current_angle):\n",
    "    #Left-negative,180-360 |||| Right-positive,0-180\n",
    "    Delta_x=Destination_x-Current_x\n",
    "    Delta_y=Destination_y-Current_y\n",
    "    Distance=np.sqrt(Delta_x*Delta_x+Delta_y*Delta_y)\n",
    "    Direct_angle=(np.arctan(Delta_y/Delta_x))*180/np.pi\n",
    "    if Delta_x<0:\n",
    "        Direct_angle=Direct_angle+180\n",
    "    True_angle=(Current_angle-Direct_angle)%360\n",
    "    if True_angle>180:\n",
    "        return 360-True_angle,'right',Distance\n",
    "    else:\n",
    "        return True_angle,'left',Distance\n",
    "def Is_arrive_2(Current_x,Current_y,im):\n",
    "    Arrive=False\n",
    "    Crash=False\n",
    "    Degree=[-150,-120,-90,-60,-30,0,30,60,90,120,150,180]\n",
    "    Distance=np.arange(0,40,5)\n",
    "    for i in Distance:\n",
    "        for j in Degree:\n",
    "            x=Current_x+i*np.cos(j/180*np.pi)\n",
    "            y=Current_y+i*np.sin(j/180*np.pi)\n",
    "            if (im.getpixel((x,y)))==(0,0,0):\n",
    "                Crash=True\n",
    "                break\n",
    "            if (im.getpixel((x,y)))==(218,112,214):\n",
    "                Arrive=True\n",
    "                break\n",
    "        if Arrive==True or Crash==True:\n",
    "                break\n",
    "    return Arrive\n",
    "def Output_state_index_2(True_angle,Left_right,Distance):\n",
    "    if 0<=Distance<60:\n",
    "        Distance_level=0\n",
    "    elif 60<=Distance<180:\n",
    "        Distance_level=1\n",
    "    elif 180<=Distance<250:\n",
    "        Distance_level=2\n",
    "    else:\n",
    "        Distance_level=3\n",
    "    \n",
    "    Angle_level=True_angle//30\n",
    "    \n",
    "    if Left_right=='right':\n",
    "        If_left_right=1\n",
    "        State_number=int(Distance_level+24*If_left_right+(5-Angle_level)*4)\n",
    "    elif Left_right=='left':\n",
    "        If_left_right=0\n",
    "        Angle_level=True_angle//30\n",
    "        State_number=int(Distance_level+24*If_left_right+Angle_level*4)\n",
    "    return State_number,Distance_level,Angle_level"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 139,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Is_Crash(Current_x,Current_y,im):\n",
    "    Crash=False\n",
    "    Degree=[-150,-120,-90,-60,-30,0,30,60,90,120,150,180]\n",
    "    Distance=np.arange(0,50,5)\n",
    "    for i in Distance:\n",
    "        for j in Degree:\n",
    "            x=Current_x+i*np.cos(j/180*np.pi)\n",
    "            y=Current_y+i*np.sin(j/180*np.pi)\n",
    "            if (im.getpixel((x,y)))==(0,0,0):\n",
    "                Crash=True\n",
    "                break\n",
    "        if Crash==True:\n",
    "                break\n",
    "    return Crash"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 140,
   "metadata": {},
   "outputs": [],
   "source": [
    "def  Which_table_action(Avoid_action,Arrive_action,Current_x,Current_y,Current_angle,Destination_x,Destination_y,im):\n",
    "    if Avoid_action==0:\n",
    "        Next_x_avoid=Current_x+Velocity_tripod*np.cos(Current_angle/180*np.pi)\n",
    "        Next_y_avoid=Current_y+Velocity_tripod*np.sin(Current_angle/180*np.pi)\n",
    "        Next_angle_avoid=Current_angle\n",
    "    elif Avoid_action==1:\n",
    "        Next_x_avoid=Current_x-Velocity_tripod*np.cos(Current_angle/180*np.pi)\n",
    "        Next_y_avoid=Current_y-Velocity_tripod*np.sin(Current_angle/180*np.pi)\n",
    "        Next_angle_avoid=Current_angle\n",
    "    elif Avoid_action==2:\n",
    "        Next_x_avoid=Current_x\n",
    "        Next_y_avoid=Current_y\n",
    "        Next_angle_avoid=Current_angle-45\n",
    "    elif Avoid_action==3:\n",
    "        Next_x_avoid=Current_x\n",
    "        Next_y_avoid=Current_y\n",
    "        Next_angle_avoid=Current_angle+45\n",
    "        \n",
    "    if Arrive_action==0:\n",
    "        Next_x_arrive=Current_x+Velocity_tripod*np.cos(Current_angle/180*np.pi)\n",
    "        Next_y_arrive=Current_y+Velocity_tripod*np.sin(Current_angle/180*np.pi)\n",
    "        Next_angle_arrive=Current_angle\n",
    "    elif Arrive_action==1:\n",
    "        Next_x_arrive=Current_x\n",
    "        Next_y_arrive=Current_y\n",
    "        Next_angle_arrive=Current_angle-45\n",
    "    elif Arrive_action==2:\n",
    "        Next_x_arrive=Current_x\n",
    "        Next_y_arrive=Current_y\n",
    "        Next_angle_arrive=Current_angle+45\n",
    "        \n",
    "    Next_left_level_1,Next_left_obstacle_distance_1=Direction_min_level_1(Left_D,Next_x_avoid,Next_y_avoid,Next_angle_avoid,im)\n",
    "    Next_right_level_1,Next_right_obstacle_distance_1=Direction_min_level_1(Right_D,Next_x_avoid,Next_y_avoid,Next_angle_avoid,im)\n",
    "    Next_up_level_1,Next_up_obstacle_disance_1=Direction_min_level_1(Up_D,Next_x_avoid,Next_y_avoid,Next_angle_avoid,im)\n",
    "    Next_min_level_1=min(Next_left_level_1,Next_right_level_1,Next_up_level_1)\n",
    "\n",
    "    if  Next_min_level_1==0:\n",
    "        Next_x=Next_x_avoid\n",
    "        Next_y=Next_y_avoid\n",
    "        Next_angle=Next_angle_avoid\n",
    "        Next_action=Avoid_action\n",
    "        print(\"start-----------------------------------------\")\n",
    "        print('Current : Avoid %f %f %f'%(Current_x,Current_y,Current_angle%360))\n",
    "        print('Action=%d'%Next_action)  \n",
    "        print('Next :Avoid %f %f %f'%(Next_x,Next_y,Next_angle%360))\n",
    "        print(\"start-----------------------------------------\")\n",
    "#         print('Min level=%d'%Next_min_level_1)\n",
    "    else:\n",
    "        Next_x=Next_x_arrive\n",
    "        Next_y=Next_y_arrive\n",
    "        Next_angle=Next_angle_arrive\n",
    "        Next_action=Arrive_action\n",
    "        print(\"start-----------------------------------------\")\n",
    "        print('Current : Arrive %f %f %f'%(Current_x,Current_y,Current_angle%360))\n",
    "        print('Action=%d'%Next_action)  \n",
    "        print('Next :Arrive %f %f %f'%(Next_x,Next_y,Next_angle%360))\n",
    "        print(\"stop-----------------------------------------\")\n",
    "\n",
    "    return Next_x,Next_y,Next_angle,Next_action\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 141,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Movement_plot(Destination_x,Destination_y,Vec_x,Vec_y):\n",
    "    %matplotlib qt5\n",
    "    im=Image.new(\"RGB\", size=(2000,2000),color=(0,0,0))\n",
    "    draw = ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255))\n",
    "    draw.rectangle((1500,1000,1650,1150),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((400,700,550,850),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((200,300,350,450),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1500,500,1550,650),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1200,1400,1350,1550),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((700,1200,850,1350),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((300,1600,450,1750),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((100,1100,250,1250),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1100,250,1250,400),(0,0,0),(0,0,0)) \n",
    "    draw.polygon((900, 1070,1120, 1000,1150, 1100, 1100,1090,1050, 1200),(0,0,0),(0,0,0))\n",
    "    draw.pieslice((750, 1700, 900, 1850), 0,180,(0,0,0),(0,0,0))\n",
    "    draw.ellipse((900,550,1050,700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((650,100,750,200),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((1700,130,1800,230),(0,0,0),(0,0,0))\n",
    "    draw.polygon((150, 180, 200, 180, 250, 120, 230, 90, 130, 100),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Destination_x-20,Destination_y-20,Destination_x+20,Destination_y+20),(218,112,214),(218,112,214))\n",
    "    draw.ellipse((Vec_x[0]-40,Vec_y[0]-40, Vec_x[0]+40,Vec_y[0]+40),(84,255,159),(84,255,159)) \n",
    "    for i,j in zip(Vec_x[1:],Vec_y[1:]):\n",
    "        draw.ellipse((i-35,j-35, i+35,j+35),(84,255,159),(84,255,159)) \n",
    "    return im"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 142,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Movement_plot2(Destination_x,Destination_y,Vec_x,Vec_y):\n",
    "    im=Image.new(\"RGB\", size=(2000,2000),color=(0,0,0))\n",
    "    draw = ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255))\n",
    "    draw.rectangle((1000,300,1100,1700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Vec_x[0]-40,Vec_y[0]-40, Vec_x[0]+40,Vec_y[0]+40),(84,255,159),(84,255,159)) \n",
    "    for i,j in zip(Vec_x[1:],Vec_y[1:]):\n",
    "        draw.ellipse((i-35,j-35, i+35,j+35),(84,255,159),(84,255,159)) \n",
    "    return im\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 143,
   "metadata": {},
   "outputs": [],
   "source": [
    "global Vec_x\n",
    "global Vec_y"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 144,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "start-----------------------------------------\n",
      "Current : Arrive 500.000000 1500.000000 30.000000\n",
      "Action=1\n",
      "Next :Arrive 500.000000 1500.000000 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 500.000000 1500.000000 345.000000\n",
      "Action=1\n",
      "Next :Arrive 500.000000 1500.000000 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 500.000000 1500.000000 300.000000\n",
      "Action=0\n",
      "Next :Arrive 505.780000 1489.988746 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 505.780000 1489.988746 300.000000\n",
      "Action=0\n",
      "Next :Arrive 511.560000 1479.977493 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 511.560000 1479.977493 300.000000\n",
      "Action=0\n",
      "Next :Arrive 517.340000 1469.966239 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 517.340000 1469.966239 300.000000\n",
      "Action=0\n",
      "Next :Arrive 523.120000 1459.954985 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 523.120000 1459.954985 300.000000\n",
      "Action=0\n",
      "Next :Arrive 528.900000 1449.943732 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 528.900000 1449.943732 300.000000\n",
      "Action=0\n",
      "Next :Arrive 534.680000 1439.932478 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 534.680000 1439.932478 300.000000\n",
      "Action=0\n",
      "Next :Arrive 540.460000 1429.921224 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 540.460000 1429.921224 300.000000\n",
      "Action=0\n",
      "Next :Arrive 546.240000 1419.909971 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 546.240000 1419.909971 300.000000\n",
      "Action=0\n",
      "Next :Arrive 552.020000 1409.898717 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 552.020000 1409.898717 300.000000\n",
      "Action=0\n",
      "Next :Arrive 557.800000 1399.887463 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 557.800000 1399.887463 300.000000\n",
      "Action=0\n",
      "Next :Arrive 563.580000 1389.876210 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 563.580000 1389.876210 300.000000\n",
      "Action=0\n",
      "Next :Arrive 569.360000 1379.864956 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 569.360000 1379.864956 300.000000\n",
      "Action=0\n",
      "Next :Arrive 575.140000 1369.853702 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 575.140000 1369.853702 300.000000\n",
      "Action=0\n",
      "Next :Arrive 580.920000 1359.842449 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 580.920000 1359.842449 300.000000\n",
      "Action=0\n",
      "Next :Arrive 586.700000 1349.831195 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 586.700000 1349.831195 300.000000\n",
      "Action=0\n",
      "Next :Arrive 592.480000 1339.819941 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 592.480000 1339.819941 300.000000\n",
      "Action=0\n",
      "Next :Arrive 598.260000 1329.808688 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 598.260000 1329.808688 300.000000\n",
      "Action=0\n",
      "Next :Arrive 604.040000 1319.797434 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 604.040000 1319.797434 300.000000\n",
      "Action=0\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=1\n",
      "Next :Avoid 604.040000 1319.797434 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 604.040000 1319.797434 300.000000\n",
      "Action=0\n",
      "Next :Arrive 609.820000 1309.786180 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=1\n",
      "Next :Avoid 604.040000 1319.797434 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 604.040000 1319.797434 300.000000\n",
      "Action=0\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=1\n",
      "Next :Avoid 604.040000 1319.797434 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 604.040000 1319.797434 300.000000\n",
      "Action=0\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=3\n",
      "Next :Avoid 609.820000 1309.786180 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 345.000000\n",
      "Action=3\n",
      "Next :Avoid 609.820000 1309.786180 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 30.000000\n",
      "Action=0\n",
      "Next :Avoid 619.831254 1315.566180 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 619.831254 1315.566180 30.000000\n",
      "Action=3\n",
      "Next :Avoid 619.831254 1315.566180 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 619.831254 1315.566180 75.000000\n",
      "Action=0\n",
      "Next :Avoid 622.823202 1326.732283 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 622.823202 1326.732283 75.000000\n",
      "Action=0\n",
      "Next :Avoid 625.815150 1337.898385 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 625.815150 1337.898385 75.000000\n",
      "Action=0\n",
      "Next :Avoid 628.807098 1349.064488 75.000000\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 628.807098 1349.064488 75.000000\n",
      "Action=0\n",
      "Next :Avoid 631.799046 1360.230591 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 631.799046 1360.230591 75.000000\n",
      "Action=0\n",
      "Next :Avoid 634.790994 1371.396693 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 634.790994 1371.396693 75.000000\n",
      "Action=0\n",
      "Next :Avoid 637.782943 1382.562796 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 637.782943 1382.562796 75.000000\n",
      "Action=0\n",
      "Next :Avoid 640.774891 1393.728898 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 640.774891 1393.728898 75.000000\n",
      "Action=0\n",
      "Next :Avoid 643.766839 1404.895001 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 643.766839 1404.895001 75.000000\n",
      "Action=1\n",
      "Next :Arrive 643.766839 1404.895001 30.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 643.766839 1404.895001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 653.778093 1410.675001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 653.778093 1410.675001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 663.789346 1416.455001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 663.789346 1416.455001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 673.800600 1422.235001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 673.800600 1422.235001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 683.811854 1428.015001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 683.811854 1428.015001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 693.823107 1433.795001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 693.823107 1433.795001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 703.834361 1439.575001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 703.834361 1439.575001 30.000000\n",
      "Action=0\n",
      "Next :Avoid 713.845615 1445.355001 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 713.845615 1445.355001 30.000000\n",
      "Action=1\n",
      "Next :Arrive 713.845615 1445.355001 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 713.845615 1445.355001 345.000000\n",
      "Action=1\n",
      "Next :Arrive 713.845615 1445.355001 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 713.845615 1445.355001 300.000000\n",
      "Action=0\n",
      "Next :Avoid 719.625615 1435.343747 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 719.625615 1435.343747 300.000000\n",
      "Action=3\n",
      "Next :Avoid 719.625615 1435.343747 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 719.625615 1435.343747 345.000000\n",
      "Action=0\n",
      "Next :Avoid 730.791717 1432.351799 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 730.791717 1432.351799 345.000000\n",
      "Action=0\n",
      "Next :Avoid 741.957820 1429.359851 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 741.957820 1429.359851 345.000000\n",
      "Action=3\n",
      "Next :Avoid 741.957820 1429.359851 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 741.957820 1429.359851 30.000000\n",
      "Action=0\n",
      "Next :Avoid 751.969073 1435.139851 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 751.969073 1435.139851 30.000000\n",
      "Action=0\n",
      "Next :Avoid 761.980327 1440.919851 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 761.980327 1440.919851 30.000000\n",
      "Action=1\n",
      "Next :Arrive 761.980327 1440.919851 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 761.980327 1440.919851 345.000000\n",
      "Action=0\n",
      "Next :Avoid 773.146430 1437.927903 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 773.146430 1437.927903 345.000000\n",
      "Action=0\n",
      "Next :Avoid 784.312532 1434.935954 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 784.312532 1434.935954 345.000000\n",
      "Action=0\n",
      "Next :Avoid 795.478635 1431.944006 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 795.478635 1431.944006 345.000000\n",
      "Action=0\n",
      "Next :Avoid 806.644737 1428.952058 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 806.644737 1428.952058 345.000000\n",
      "Action=0\n",
      "Next :Avoid 817.810840 1425.960110 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 817.810840 1425.960110 345.000000\n",
      "Action=0\n",
      "Next :Avoid 828.976942 1422.968162 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 828.976942 1422.968162 345.000000\n",
      "Action=0\n",
      "Next :Avoid 840.143045 1419.976214 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 840.143045 1419.976214 345.000000\n",
      "Action=0\n",
      "Next :Avoid 851.309147 1416.984265 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 851.309147 1416.984265 345.000000\n",
      "Action=0\n",
      "Next :Avoid 862.475250 1413.992317 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 862.475250 1413.992317 345.000000\n",
      "Action=0\n",
      "Next :Avoid 873.641353 1411.000369 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 873.641353 1411.000369 345.000000\n",
      "Action=0\n",
      "Next :Avoid 884.807455 1408.008421 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 884.807455 1408.008421 345.000000\n",
      "Action=0\n",
      "Next :Avoid 895.973558 1405.016473 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 895.973558 1405.016473 345.000000\n",
      "Action=0\n",
      "Next :Avoid 907.139660 1402.024525 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 907.139660 1402.024525 345.000000\n",
      "Action=0\n",
      "Next :Avoid 918.305763 1399.032576 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 918.305763 1399.032576 345.000000\n",
      "Action=1\n",
      "Next :Arrive 918.305763 1399.032576 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 918.305763 1399.032576 300.000000\n",
      "Action=0\n",
      "Next :Avoid 924.085763 1389.021323 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 924.085763 1389.021323 300.000000\n",
      "Action=0\n",
      "Next :Avoid 929.865763 1379.010069 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 929.865763 1379.010069 300.000000\n",
      "Action=0\n",
      "Next :Avoid 935.645763 1368.998815 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 935.645763 1368.998815 300.000000\n",
      "Action=0\n",
      "Next :Arrive 941.425763 1358.987562 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 941.425763 1358.987562 300.000000\n",
      "Action=0\n",
      "Next :Arrive 947.205763 1348.976308 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 947.205763 1348.976308 300.000000\n",
      "Action=0\n",
      "Next :Arrive 952.985763 1338.965054 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 952.985763 1338.965054 300.000000\n",
      "Action=0\n",
      "Next :Arrive 958.765763 1328.953801 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 958.765763 1328.953801 300.000000\n",
      "Action=0\n",
      "Next :Arrive 964.545763 1318.942547 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 964.545763 1318.942547 300.000000\n",
      "Action=0\n",
      "Next :Arrive 970.325763 1308.931293 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 970.325763 1308.931293 300.000000\n",
      "Action=0\n",
      "Next :Arrive 976.105763 1298.920040 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 976.105763 1298.920040 300.000000\n",
      "Action=0\n",
      "Next :Arrive 981.885763 1288.908786 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 981.885763 1288.908786 300.000000\n",
      "Action=0\n",
      "Next :Arrive 987.665763 1278.897532 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 987.665763 1278.897532 300.000000\n",
      "Action=0\n",
      "Next :Avoid 993.445763 1268.886279 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 300.000000\n",
      "Action=3\n",
      "Next :Avoid 993.445763 1268.886279 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 993.445763 1268.886279 345.000000\n",
      "Action=1\n",
      "Next :Arrive 993.445763 1268.886279 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 300.000000\n",
      "Action=3\n",
      "Next :Avoid 993.445763 1268.886279 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 993.445763 1268.886279 345.000000\n",
      "Action=1\n",
      "Next :Arrive 993.445763 1268.886279 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 300.000000\n",
      "Action=3\n",
      "Next :Avoid 993.445763 1268.886279 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 993.445763 1268.886279 345.000000\n",
      "Action=1\n",
      "Next :Arrive 993.445763 1268.886279 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 300.000000\n",
      "Action=3\n",
      "Next :Avoid 993.445763 1268.886279 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 993.445763 1268.886279 345.000000\n",
      "Action=1\n",
      "Next :Arrive 993.445763 1268.886279 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 300.000000\n",
      "Action=3\n",
      "Next :Avoid 993.445763 1268.886279 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 345.000000\n",
      "Action=3\n",
      "Next :Avoid 993.445763 1268.886279 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 993.445763 1268.886279 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1003.457016 1274.666279 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1003.457016 1274.666279 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1013.468270 1280.446279 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1013.468270 1280.446279 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1013.468270 1280.446279 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1013.468270 1280.446279 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1024.634373 1277.454331 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1024.634373 1277.454331 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1035.800475 1274.462382 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1035.800475 1274.462382 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1046.966578 1271.470434 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1046.966578 1271.470434 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1058.132680 1268.478486 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1058.132680 1268.478486 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1069.298783 1265.486538 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1069.298783 1265.486538 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1080.464885 1262.494590 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1080.464885 1262.494590 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1091.630988 1259.502642 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1091.630988 1259.502642 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1102.797091 1256.510694 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1102.797091 1256.510694 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1113.963193 1253.518745 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1113.963193 1253.518745 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1125.129296 1250.526797 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1125.129296 1250.526797 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1125.129296 1250.526797 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1125.129296 1250.526797 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1130.909296 1240.515544 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1130.909296 1240.515544 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1136.689296 1230.504290 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1136.689296 1230.504290 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1142.469296 1220.493036 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1142.469296 1220.493036 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1142.469296 1220.493036 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1142.469296 1220.493036 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1139.477347 1209.326934 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1139.477347 1209.326934 255.000000\n",
      "Action=3\n",
      "Next :Avoid 1139.477347 1209.326934 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1139.477347 1209.326934 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1145.257347 1199.315680 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1145.257347 1199.315680 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1151.037347 1189.304426 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1151.037347 1189.304426 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1156.817347 1179.293173 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1156.817347 1179.293173 300.000000\n",
      "Action=3\n",
      "Next :Avoid 1156.817347 1179.293173 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1156.817347 1179.293173 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1167.983450 1176.301224 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1167.983450 1176.301224 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1179.149553 1173.309276 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1179.149553 1173.309276 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1179.149553 1173.309276 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1179.149553 1173.309276 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1184.929553 1163.298023 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1184.929553 1163.298023 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1184.929553 1163.298023 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1184.929553 1163.298023 255.000000\n",
      "Action=3\n",
      "Next :Avoid 1184.929553 1163.298023 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1184.929553 1163.298023 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1190.709553 1153.286769 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1190.709553 1153.286769 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1196.489553 1143.275515 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1196.489553 1143.275515 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1202.269553 1133.264262 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1202.269553 1133.264262 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1208.049553 1123.253008 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1208.049553 1123.253008 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1213.829553 1113.241754 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1213.829553 1113.241754 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1219.609553 1103.230501 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1219.609553 1103.230501 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1225.389553 1093.219247 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1225.389553 1093.219247 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1231.169553 1083.207993 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1231.169553 1083.207993 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1231.169553 1083.207993 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1231.169553 1083.207993 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1228.177604 1072.041891 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1228.177604 1072.041891 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1225.185656 1060.875788 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1225.185656 1060.875788 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1222.193708 1049.709686 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1222.193708 1049.709686 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1219.201760 1038.543583 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1219.201760 1038.543583 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1216.209812 1027.377481 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1216.209812 1027.377481 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1213.217864 1016.211378 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1213.217864 1016.211378 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1210.225915 1005.045275 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1210.225915 1005.045275 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1207.233967 993.879173 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1207.233967 993.879173 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1204.242019 982.713070 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1204.242019 982.713070 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1201.250071 971.546968 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1201.250071 971.546968 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1198.258123 960.380865 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1198.258123 960.380865 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1195.266175 949.214763 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1195.266175 949.214763 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1192.274226 938.048660 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1192.274226 938.048660 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1189.282278 926.882558 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1189.282278 926.882558 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1186.290330 915.716455 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1186.290330 915.716455 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1183.298382 904.550352 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1183.298382 904.550352 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1180.306434 893.384250 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1180.306434 893.384250 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1177.314486 882.218147 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1177.314486 882.218147 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1174.322538 871.052045 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1174.322538 871.052045 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1171.330589 859.885942 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1171.330589 859.885942 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1168.338641 848.719840 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1168.338641 848.719840 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1165.346693 837.553737 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1165.346693 837.553737 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1162.354745 826.387635 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1162.354745 826.387635 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1159.362797 815.221532 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1159.362797 815.221532 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1156.370849 804.055429 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1156.370849 804.055429 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1153.378900 792.889327 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1153.378900 792.889327 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1150.386952 781.723224 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1150.386952 781.723224 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1147.395004 770.557122 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1147.395004 770.557122 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1144.403056 759.391019 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1144.403056 759.391019 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1141.411108 748.224917 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1141.411108 748.224917 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1138.419160 737.058814 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1138.419160 737.058814 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1135.427211 725.892712 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1135.427211 725.892712 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1132.435263 714.726609 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1132.435263 714.726609 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1129.443315 703.560507 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1129.443315 703.560507 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1126.451367 692.394404 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1126.451367 692.394404 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1123.459419 681.228301 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1123.459419 681.228301 255.000000\n",
      "Action=3\n",
      "Next :Avoid 1123.459419 681.228301 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1123.459419 681.228301 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1129.239419 671.217048 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1129.239419 671.217048 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1135.019419 661.205794 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1135.019419 661.205794 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1135.019419 661.205794 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1135.019419 661.205794 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1132.027471 650.039692 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1132.027471 650.039692 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1129.035522 638.873589 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1129.035522 638.873589 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1126.043574 627.707486 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1126.043574 627.707486 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1123.051626 616.541384 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1123.051626 616.541384 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1120.059678 605.375281 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1120.059678 605.375281 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1117.067730 594.209179 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1117.067730 594.209179 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1114.075782 583.043076 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1114.075782 583.043076 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1111.083833 571.876974 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1111.083833 571.876974 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1108.091885 560.710871 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1108.091885 560.710871 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1105.099937 549.544769 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1105.099937 549.544769 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1102.107989 538.378666 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1102.107989 538.378666 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1099.116041 527.212563 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1099.116041 527.212563 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1096.124093 516.046461 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1096.124093 516.046461 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1093.132145 504.880358 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1093.132145 504.880358 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1090.140196 493.714256 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1090.140196 493.714256 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1087.148248 482.548153 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1087.148248 482.548153 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1084.156300 471.382051 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1084.156300 471.382051 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1081.164352 460.215948 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1081.164352 460.215948 255.000000\n",
      "Action=3\n",
      "Next :Avoid 1081.164352 460.215948 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1081.164352 460.215948 300.000000\n",
      "Action=3\n",
      "Next :Avoid 1081.164352 460.215948 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1081.164352 460.215948 345.000000\n",
      "Action=3\n",
      "Next :Avoid 1081.164352 460.215948 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1081.164352 460.215948 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1091.175606 465.995948 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1091.175606 465.995948 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1091.175606 465.995948 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1091.175606 465.995948 345.000000\n",
      "Action=3\n",
      "Next :Avoid 1091.175606 465.995948 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1091.175606 465.995948 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1101.186859 471.775948 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1101.186859 471.775948 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1111.198113 477.555948 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1111.198113 477.555948 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1121.209367 483.335948 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1121.209367 483.335948 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1121.209367 483.335948 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1121.209367 483.335948 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1132.375469 480.344000 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1132.375469 480.344000 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1143.541572 477.352052 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1143.541572 477.352052 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1154.707674 474.360104 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1154.707674 474.360104 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1165.873777 471.368156 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1165.873777 471.368156 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1177.039879 468.376207 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1177.039879 468.376207 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1188.205982 465.384259 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1188.205982 465.384259 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1199.372084 462.392311 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1199.372084 462.392311 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1210.538187 459.400363 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1210.538187 459.400363 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1221.704290 456.408415 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1221.704290 456.408415 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1232.870392 453.416467 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1232.870392 453.416467 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1244.036495 450.424518 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1244.036495 450.424518 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1255.202597 447.432570 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1255.202597 447.432570 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1266.368700 444.440622 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1266.368700 444.440622 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1277.534802 441.448674 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1277.534802 441.448674 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1288.700905 438.456726 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1288.700905 438.456726 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1299.867007 435.464778 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1299.867007 435.464778 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1299.867007 435.464778 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1299.867007 435.464778 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1305.647007 425.453524 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1305.647007 425.453524 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1311.427007 415.442270 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1311.427007 415.442270 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1317.207007 405.431017 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1317.207007 405.431017 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1322.987007 395.419763 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1322.987007 395.419763 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1328.767007 385.408509 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1328.767007 385.408509 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1334.547007 375.397256 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1334.547007 375.397256 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1334.547007 375.397256 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1334.547007 375.397256 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1331.555059 364.231153 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1331.555059 364.231153 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1328.563111 353.065050 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1328.563111 353.065050 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1325.571163 341.898948 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1325.571163 341.898948 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1322.579215 330.732845 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1322.579215 330.732845 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1319.587267 319.566743 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1319.587267 319.566743 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1316.595318 308.400640 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1316.595318 308.400640 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1313.603370 297.234538 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1313.603370 297.234538 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1310.611422 286.068435 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1310.611422 286.068435 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1307.619474 274.902333 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1307.619474 274.902333 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1304.627526 263.736230 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1304.627526 263.736230 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1301.635578 252.570127 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1301.635578 252.570127 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1298.643629 241.404025 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1298.643629 241.404025 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1295.651681 230.237922 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1295.651681 230.237922 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1292.659733 219.071820 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1292.659733 219.071820 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1289.667785 207.905717 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1289.667785 207.905717 255.000000\n",
      "Action=1\n",
      "Next :Arrive 1289.667785 207.905717 210.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1289.667785 207.905717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1279.656531 202.125717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1279.656531 202.125717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1269.645278 196.345717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1269.645278 196.345717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1259.634024 190.565717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1259.634024 190.565717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1249.622770 184.785717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1249.622770 184.785717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1239.611517 179.005717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1239.611517 179.005717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1229.600263 173.225717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1229.600263 173.225717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1219.589009 167.445717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1219.589009 167.445717 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1209.577756 161.665717 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1209.577756 161.665717 210.000000\n",
      "Action=1\n",
      "Next :Arrive 1209.577756 161.665717 165.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1209.577756 161.665717 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1198.411653 164.657665 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1198.411653 164.657665 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1187.245551 167.649614 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1187.245551 167.649614 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1176.079448 170.641562 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1176.079448 170.641562 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1164.913345 173.633510 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1164.913345 173.633510 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1153.747243 176.625458 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1153.747243 176.625458 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1142.581140 179.617406 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1142.581140 179.617406 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1131.415038 182.609354 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1131.415038 182.609354 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1120.248935 185.601303 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1120.248935 185.601303 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1109.082833 188.593251 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1109.082833 188.593251 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1097.916730 191.585199 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1097.916730 191.585199 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1086.750628 194.577147 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1086.750628 194.577147 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1075.584525 197.569095 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1075.584525 197.569095 165.000000\n",
      "Action=0\n",
      "Next :Arrive 1064.418422 200.561043 165.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1064.418422 200.561043 165.000000\n",
      "Action=0\n",
      "Next :Arrive 1053.252320 203.552992 165.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1053.252320 203.552992 165.000000\n",
      "Action=0\n",
      "Next :Arrive 1042.086217 206.544940 165.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1042.086217 206.544940 165.000000\n",
      "Action=1\n",
      "Next :Arrive 1042.086217 206.544940 120.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1042.086217 206.544940 120.000000\n",
      "Action=0\n",
      "Next :Arrive 1036.306217 216.556193 120.000000\n",
      "stop-----------------------------------------\n"
     ]
    }
   ],
   "source": [
    "def Run_3():\n",
    "    Destination_x,Destination_y=Set_destination(1000,250)\n",
    "    Current_x,Current_y,Current_angle=Start_point(500,1500,30)\n",
    "    im=Draw_map1(Destination_x,Destination_y)\n",
    "    Arrive=False\n",
    "    Crash=False\n",
    "    global Vec_x\n",
    "    global Vec_y\n",
    "    Vec_x=[]\n",
    "    Vec_y=[]\n",
    "    Total_step=0\n",
    "    while Arrive!=True and Total_step<1000:\n",
    "        Current_left_obstacle_level,_=Direction_min_level_1(Left_D,Current_x,Current_y,Current_angle,im)\n",
    "        Current_left_obstacle_level,_=Direction_min_level_1(Right_D,Current_x,Current_y,Current_angle,im)\n",
    "        Current_up_Obstacle_level,C=Direction_min_level_1(Up_D,Current_x,Current_y,Current_angle,im)\n",
    "        Current_state_avoid=Output_state_index_1(Current_left_obstacle_level,Current_left_obstacle_level\n",
    "                                                 ,Current_up_Obstacle_level)\n",
    "\n",
    "        \n",
    "        Avoid_action=np.argmax((Q_Table1_avoid[Current_state_avoid]))\n",
    "\n",
    "        True_angle,Left_right,Distance=Robot_destination_2(Destination_x,Destination_y,Current_x,Current_y,Current_angle)\n",
    "        Current_state_arrive,Distance_level,Angle_level=Output_state_index_2(True_angle,Left_right,Distance)\n",
    "\n",
    "        Arrive_action=np.argmax((Q_Table2_arrive[Current_state_arrive]))\n",
    "\n",
    "        Next_x,Next_y,Next_angle,Next_action=Which_table_action(Avoid_action,Arrive_action,Current_x,Current_y,Current_angle,Destination_x,Destination_y,im)\n",
    "        \n",
    "        Arrive=Is_arrive_2(Next_x,Next_y,im)\n",
    "        \n",
    "        if Arrive==True:\n",
    "            Vec_x.append(Current_x)\n",
    "            Vec_y.append(Current_y)\n",
    "            Movement_plot(Destination_x,Destination_y,Vec_x,Vec_y)\n",
    "            break\n",
    "            \n",
    "        Vec_x.append(Current_x)\n",
    "        Vec_y.append(Current_y)\n",
    "        Current_x=Next_x\n",
    "        Current_y=Next_y\n",
    "        Current_angle=Next_angle\n",
    "        Total_step+=1\n",
    "Run_3()   "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 145,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "data": {
      "image/png": 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H7HBnCDvcG/CXFAB4QYlGnDy7lziHXCn5JxYA0pqSKAV3hhDcG/CXFAA4qlAp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\n02Ef1fgVVg8A+hHcAehGNQOAc+jFr7OGANCM4A7QlvH2QCI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      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=2000x2000 at 0x15EB21BDE10>"
      ]
     },
     "execution_count": 145,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Movement_plot(1000,250,Vec_x,Vec_y)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
